#include "ao.h"
__xdata struct ao_config ao_config;
-__xdata uint8_t ao_config_loaded;
-__xdata uint8_t ao_config_dirty;
+__pdata uint8_t ao_config_loaded;
+__pdata uint8_t ao_config_dirty;
__xdata uint8_t ao_config_mutex;
#define AO_CONFIG_DEFAULT_MAIN_DEPLOY 250
#define AO_CONFIG_DEFAULT_RADIO_CHANNEL 0
-#define AO_CONFIG_DEFAULT_CALLSIGN "KD7SQG"
+#define AO_CONFIG_DEFAULT_CALLSIGN "N0CALL"
#define AO_CONFIG_DEFAULT_ACCEL_ZERO_G 16000
+#define AO_CONFIG_DEFAULT_APOGEE_DELAY 0
+#define AO_CONFIG_DEFAULT_IGNITE_MODE AO_IGNITE_MODE_DUAL
+#define AO_CONFIG_DEFAULT_PAD_ORIENTATION AO_PAD_ORIENTATION_ANTENNA_UP
+#if HAS_EEPROM
+#ifndef USE_INTERNAL_FLASH
+#error Please define USE_INTERNAL_FLASH
+#endif
+#endif
+#if USE_INTERNAL_FLASH
+#define AO_CONFIG_DEFAULT_FLIGHT_LOG_MAX ao_storage_config
+#else
+#define AO_CONFIG_DEFAULT_FLIGHT_LOG_MAX ((uint32_t) 192 * (uint32_t) 1024)
+#endif
+#if HAS_EEPROM
static void
_ao_config_put(void)
{
- ao_ee_write_config((uint8_t *) &ao_config, sizeof (ao_config));
+ ao_storage_setup();
+ ao_storage_erase(ao_storage_config);
+ ao_storage_write(ao_storage_config, &ao_config, sizeof (ao_config));
+ ao_log_write_erase(0);
+ ao_storage_flush();
}
+void
+ao_config_put(void)
+{
+ ao_mutex_get(&ao_config_mutex);
+ _ao_config_put();
+ ao_mutex_put(&ao_config_mutex);
+}
+#endif
+
static void
_ao_config_get(void)
{
if (ao_config_loaded)
return;
- ao_ee_read_config((uint8_t *) &ao_config, sizeof (ao_config));
+#if HAS_EEPROM
+ ao_storage_setup();
+ ao_storage_read(ao_storage_config, &ao_config, sizeof (ao_config));
+#endif
if (ao_config.major != AO_CONFIG_MAJOR) {
ao_config.major = AO_CONFIG_MAJOR;
ao_config.minor = AO_CONFIG_MINOR;
ao_config.main_deploy = AO_CONFIG_DEFAULT_MAIN_DEPLOY;
ao_config.radio_channel = AO_CONFIG_DEFAULT_RADIO_CHANNEL;
- ao_config.accel_zero_g = AO_CONFIG_DEFAULT_ACCEL_ZERO_G;
+ ao_config.accel_plus_g = 0;
+ ao_config.accel_minus_g = 0;
memset(&ao_config.callsign, '\0', sizeof (ao_config.callsign));
memcpy(&ao_config.callsign, AO_CONFIG_DEFAULT_CALLSIGN,
sizeof(AO_CONFIG_DEFAULT_CALLSIGN) - 1);
+ ao_config.apogee_delay = AO_CONFIG_DEFAULT_APOGEE_DELAY;
+ ao_config.radio_cal = ao_radio_cal;
+ ao_config.flight_log_max = AO_CONFIG_DEFAULT_FLIGHT_LOG_MAX;
+ ao_config.ignite_mode = AO_CONFIG_DEFAULT_IGNITE_MODE;
+ ao_config.pad_orientation = AO_CONFIG_DEFAULT_PAD_ORIENTATION;
+ ao_config.radio_setting = ao_radio_cal;
+ ao_config_dirty = 1;
+ }
+ if (ao_config.minor < AO_CONFIG_MINOR) {
+ /* Fixups for minor version 1 */
+ if (ao_config.minor < 1)
+ ao_config.apogee_delay = AO_CONFIG_DEFAULT_APOGEE_DELAY;
+ /* Fixups for minor version 2 */
+ if (ao_config.minor < 2) {
+ ao_config.accel_plus_g = 0;
+ ao_config.accel_minus_g = 0;
+ }
+ /* Fixups for minor version 3 */
+ if (ao_config.minor < 3)
+ ao_config.radio_cal = ao_radio_cal;
+ /* Fixups for minor version 4 */
+ if (ao_config.minor < 4)
+ ao_config.flight_log_max = AO_CONFIG_DEFAULT_FLIGHT_LOG_MAX;
+ /* Fixupes for minor version 5 */
+ if (ao_config.minor < 5)
+ ao_config.ignite_mode = AO_CONFIG_DEFAULT_IGNITE_MODE;
+ if (ao_config.minor < 6)
+ ao_config.pad_orientation = AO_CONFIG_DEFAULT_PAD_ORIENTATION;
+ if (ao_config.minor < 7)
+ ao_config.radio_setting = ao_config.radio_cal;
+ ao_config.minor = AO_CONFIG_MINOR;
ao_config_dirty = 1;
}
- /* deal with minor version issues here, at 0 we haven't any */
ao_config_loaded = 1;
}
ao_config_callsign_set(void) __reentrant
{
uint8_t c;
- char callsign[AO_MAX_CALLSIGN + 1];
+ static __xdata char callsign[AO_MAX_CALLSIGN + 1];
+ memset(callsign, '\0', sizeof callsign);
ao_cmd_white();
c = 0;
while (ao_cmd_lex_c != '\n') {
return;
ao_mutex_get(&ao_config_mutex);
_ao_config_get();
- while (c < AO_MAX_CALLSIGN + 1)
- callsign[c++] = '\0';
memcpy(&ao_config.callsign, &callsign,
AO_MAX_CALLSIGN + 1);
ao_config_dirty = 1;
ao_config_dirty = 1;
ao_mutex_put(&ao_config_mutex);
ao_config_radio_channel_show();
+ ao_radio_recv_abort();
}
+#if HAS_ADC
+
void
ao_config_main_deploy_show(void) __reentrant
{
- printf("Main deploy set to %d meters (%d feet)\n",
+ printf("Main deploy: %d meters (%d feet)\n",
ao_config.main_deploy,
(int16_t) ((int32_t) ao_config.main_deploy * 328 / 100));
}
ao_config_main_deploy_show();
}
+#if HAS_ACCEL
void
-ao_config_accel_zero_g_show(void) __reentrant
+ao_config_accel_calibrate_show(void) __reentrant
{
- printf("Accel zero g point set to %d\n",
- ao_config.accel_zero_g);
+ printf("Accel cal +1g: %d -1g: %d\n",
+ ao_config.accel_plus_g, ao_config.accel_minus_g);
}
-#define ZERO_G_SAMPLES 1000
+#define ACCEL_CALIBRATE_SAMPLES 1024
+#define ACCEL_CALIBRATE_SHIFT 10
static int16_t
-ao_config_accel_zero_g_auto(void) __reentrant
+ao_config_accel_calibrate_auto(char *orientation) __reentrant
{
uint16_t i;
int32_t accel_total;
uint8_t cal_adc_ring;
- puts("Calibrating accelerometer..."); flush();
- i = ZERO_G_SAMPLES;
+ printf("Orient antenna %s and press a key...", orientation);
+ flush();
+ (void) getchar();
+ puts("\r\n"); flush();
+ puts("Calibrating..."); flush();
+ i = ACCEL_CALIBRATE_SAMPLES;
accel_total = 0;
- cal_adc_ring = ao_adc_head;
+ cal_adc_ring = ao_sample_adc;
while (i) {
- ao_sleep(&ao_adc_ring);
- while (i && cal_adc_ring != ao_adc_head) {
+ ao_sleep(DATA_TO_XDATA(&ao_sample_adc));
+ while (i && cal_adc_ring != ao_sample_adc) {
accel_total += (int32_t) ao_adc_ring[cal_adc_ring].accel;
cal_adc_ring = ao_adc_ring_next(cal_adc_ring);
i--;
}
}
- return (int16_t) (accel_total / ZERO_G_SAMPLES);
+ return accel_total >> ACCEL_CALIBRATE_SHIFT;
+}
+
+void
+ao_config_accel_calibrate_set(void) __reentrant
+{
+ int16_t up, down;
+ ao_cmd_decimal();
+ if (ao_cmd_status != ao_cmd_success)
+ return;
+ if (ao_cmd_lex_i == 0) {
+ up = ao_config_accel_calibrate_auto("up");
+ down = ao_config_accel_calibrate_auto("down");
+ } else {
+ up = ao_cmd_lex_i;
+ ao_cmd_decimal();
+ if (ao_cmd_status != ao_cmd_success)
+ return;
+ down = ao_cmd_lex_i;
+ }
+ if (up >= down) {
+ printf("Invalid accel: up (%d) down (%d)\n",
+ up, down);
+ return;
+ }
+ ao_mutex_get(&ao_config_mutex);
+ _ao_config_get();
+ ao_config.accel_plus_g = up;
+ ao_config.accel_minus_g = down;
+ ao_config_dirty = 1;
+ ao_mutex_put(&ao_config_mutex);
+ ao_config_accel_calibrate_show();
+}
+#endif /* HAS_ACCEL */
+
+void
+ao_config_apogee_delay_show(void) __reentrant
+{
+ printf("Apogee delay: %d seconds\n",
+ ao_config.apogee_delay);
+}
+
+void
+ao_config_apogee_delay_set(void) __reentrant
+{
+ ao_cmd_decimal();
+ if (ao_cmd_status != ao_cmd_success)
+ return;
+ ao_mutex_get(&ao_config_mutex);
+ _ao_config_get();
+ ao_config.apogee_delay = ao_cmd_lex_i;
+ ao_config_dirty = 1;
+ ao_mutex_put(&ao_config_mutex);
+ ao_config_apogee_delay_show();
+}
+
+#endif /* HAS_ADC */
+
+void
+ao_config_radio_cal_show(void) __reentrant
+{
+ printf("Radio cal: %ld\n", ao_config.radio_cal);
}
+
void
-ao_config_accel_zero_g_set(void) __reentrant
+ao_config_radio_cal_set(void) __reentrant
{
ao_cmd_decimal();
if (ao_cmd_status != ao_cmd_success)
return;
- if (ao_cmd_lex_i == 0)
- ao_cmd_lex_i = ao_config_accel_zero_g_auto();
ao_mutex_get(&ao_config_mutex);
_ao_config_get();
- ao_config.accel_zero_g = ao_cmd_lex_i;
+ ao_config.radio_setting = ao_config.radio_cal = ao_cmd_lex_u32;
ao_config_dirty = 1;
ao_mutex_put(&ao_config_mutex);
- ao_config_accel_zero_g_show();
+ ao_config_radio_cal_show();
+}
+
+#if HAS_EEPROM
+void
+ao_config_log_show(void) __reentrant
+{
+ printf("Max flight log: %d kB\n", (int16_t) (ao_config.flight_log_max >> 10));
+}
+
+void
+ao_config_log_set(void) __reentrant
+{
+ uint16_t block = (uint16_t) (ao_storage_block >> 10);
+ uint16_t config = (uint16_t) (ao_storage_config >> 10);
+
+ ao_cmd_decimal();
+ if (ao_cmd_status != ao_cmd_success)
+ return;
+ if (ao_log_present())
+ printf("Storage must be empty before changing log size\n");
+ else if (block > 1024 && (ao_cmd_lex_i & (block - 1)))
+ printf("Flight log size must be multiple of %d kB\n", block);
+ else if (ao_cmd_lex_i > config)
+ printf("Flight log max %d kB\n", config);
+ else {
+ ao_mutex_get(&ao_config_mutex);
+ _ao_config_get();
+ ao_config.flight_log_max = (uint32_t) ao_cmd_lex_i << 10;
+ ao_config_dirty = 1;
+ ao_mutex_put(&ao_config_mutex);
+ ao_config_log_show();
+ }
+}
+#endif /* HAS_EEPROM */
+
+#if HAS_IGNITE
+void
+ao_config_ignite_mode_show(void) __reentrant
+{
+ printf("Ignite mode: %d\n", ao_config.ignite_mode);
+}
+
+void
+ao_config_ignite_mode_set(void) __reentrant
+{
+ ao_cmd_decimal();
+ if (ao_cmd_status != ao_cmd_success)
+ return;
+ ao_mutex_get(&ao_config_mutex);
+ _ao_config_get();
+ ao_config.ignite_mode = ao_cmd_lex_i;
+ ao_config_dirty = 1;
+ ao_mutex_put(&ao_config_mutex);
+ ao_config_ignite_mode_show();
+}
+#endif
+
+#if HAS_ACCEL
+void
+ao_config_pad_orientation_show(void) __reentrant
+{
+ printf("Pad orientation: %d\n", ao_config.pad_orientation);
+}
+
+void
+ao_config_pad_orientation_set(void) __reentrant
+{
+ ao_cmd_decimal();
+ if (ao_cmd_status != ao_cmd_success)
+ return;
+ ao_mutex_get(&ao_config_mutex);
+ _ao_config_get();
+ ao_cmd_lex_i &= 1;
+ if (ao_config.pad_orientation != ao_cmd_lex_i) {
+ uint16_t t;
+ t = ao_config.accel_plus_g;
+ ao_config.accel_plus_g = 0x7fff - ao_config.accel_minus_g;
+ ao_config.accel_minus_g = 0x7fff - t;
+ }
+ ao_config.pad_orientation = ao_cmd_lex_i;
+ ao_config_dirty = 1;
+ ao_mutex_put(&ao_config_mutex);
+ ao_config_pad_orientation_show();
+}
+#endif
+
+void
+ao_config_radio_setting_show(void) __reentrant
+{
+ printf("Radio setting: %ld\n", ao_config.radio_setting);
+}
+
+void
+ao_config_radio_setting_set(void) __reentrant
+{
+ ao_cmd_decimal();
+ if (ao_cmd_status != ao_cmd_success)
+ return;
+ ao_mutex_get(&ao_config_mutex);
+ _ao_config_get();
+ ao_config.radio_setting = ao_cmd_lex_u32;
+ ao_config_dirty = 1;
+ ao_mutex_put(&ao_config_mutex);
+ ao_config_radio_setting_show();
+ ao_radio_recv_abort();
}
struct ao_config_var {
- char cmd;
+ __code char *str;
void (*set)(void) __reentrant;
void (*show)(void) __reentrant;
- const char *help;
};
-void
+static void
ao_config_help(void) __reentrant;
-void
+static void
ao_config_show(void) __reentrant;
-void
+static void
ao_config_write(void) __reentrant;
__code struct ao_config_var ao_config_vars[] = {
- { 'm', ao_config_main_deploy_set, ao_config_main_deploy_show,
- "m <meters> Set height above launch for main deploy (in meters)" },
- { 'a', ao_config_accel_zero_g_set, ao_config_accel_zero_g_show,
- "a <value> Set accelerometer zero g point (0 for auto)" },
- { 'r', ao_config_radio_channel_set, ao_config_radio_channel_show,
- "r <channel> Set radio channel (freq = 434.550 + channel * .1)" },
- { 'c', ao_config_callsign_set, ao_config_callsign_show,
- "c <call> Set callsign broadcast in each packet (8 char max)" },
- { 's', ao_config_show, ao_config_show,
- "s Show current config values" },
- { 'w', ao_config_write, ao_config_write,
- "w Write current values to eeprom" },
- { '?', ao_config_help, ao_config_help,
- "? Show available config variables" },
- { 0, ao_config_main_deploy_set, ao_config_main_deploy_show,
- NULL },
+#if HAS_ADC
+ { "m <meters>\0Main deploy (in meters)",
+ ao_config_main_deploy_set, ao_config_main_deploy_show, },
+ { "d <delay>\0Apogee delay (in seconds)",
+ ao_config_apogee_delay_set, ao_config_apogee_delay_show },
+#endif /* HAS_ADC */
+ { "r <channel>\0Radio channel (freq = 434.550 + chan * .1)",
+ ao_config_radio_channel_set, ao_config_radio_channel_show },
+ { "c <call>\0Callsign (8 char max)",
+ ao_config_callsign_set, ao_config_callsign_show },
+#if HAS_ACCEL
+ { "a <+g> <-g>\0Accel calib (0 for auto)",
+ ao_config_accel_calibrate_set,ao_config_accel_calibrate_show },
+#endif /* HAS_ACCEL */
+ { "f <cal>\0Radio calib (cal = rf/(xtal/2^16))",
+ ao_config_radio_cal_set, ao_config_radio_cal_show },
+#if HAS_EEPROM
+ { "l <size>\0Flight log size in kB",
+ ao_config_log_set, ao_config_log_show },
+#endif
+#if HAS_IGNITE
+ { "i <0 dual, 1 apogee, 2 main>\0Set igniter mode",
+ ao_config_ignite_mode_set, ao_config_ignite_mode_show },
+#endif
+#if HAS_ACCEL
+ { "o <0 antenna up, 1 antenna down>\0Set pad orientation",
+ ao_config_pad_orientation_set,ao_config_pad_orientation_show },
+#endif
+ { "R <setting>\0Radio freq control (freq = 434.550 * setting/cal)",
+ ao_config_radio_setting_set, ao_config_radio_setting_show },
+ { "s\0Show",
+ ao_config_show, ao_config_show },
+#if HAS_EEPROM
+ { "w\0Write to eeprom",
+ ao_config_write, ao_config_write },
+#endif
+ { "?\0Help",
+ ao_config_help, ao_config_help },
+ { 0, 0, 0 }
};
void
c = ao_cmd_lex_c;
ao_cmd_lex();
func = 0;
- for (cmd = 0; ao_config_vars[cmd].cmd != '\0'; cmd++)
- if (ao_config_vars[cmd].cmd == c) {
+ for (cmd = 0; ao_config_vars[cmd].str != NULL; cmd++)
+ if (ao_config_vars[cmd].str[0] == c) {
func = ao_config_vars[cmd].set;
break;
}
ao_cmd_status = ao_cmd_syntax_error;
}
-void
+static void
ao_config_help(void) __reentrant
{
uint8_t cmd;
- for (cmd = 0; ao_config_vars[cmd].cmd != '\0'; cmd++)
- puts (ao_config_vars[cmd].help);
+ for (cmd = 0; ao_config_vars[cmd].str != NULL; cmd++)
+ printf("%-20s %s\n",
+ ao_config_vars[cmd].str,
+ ao_config_vars[cmd].str+1+strlen(ao_config_vars[cmd].str));
}
-void
+static void
ao_config_show(void) __reentrant
{
uint8_t cmd;
- for (cmd = 0; ao_config_vars[cmd].cmd != '\0'; cmd++)
+ printf("Config version: %d.%d\n",
+ ao_config.major, ao_config.minor);
+ for (cmd = 0; ao_config_vars[cmd].str != NULL; cmd++)
if (ao_config_vars[cmd].show != ao_config_vars[cmd].set)
(*ao_config_vars[cmd].show)();
}
-void
+#if HAS_EEPROM
+static void
ao_config_write(void) __reentrant
{
+ uint8_t saved = 0;
ao_mutex_get(&ao_config_mutex);
if (ao_config_dirty) {
_ao_config_put();
ao_config_dirty = 0;
- printf("Saved\n");
+ saved = 1;
}
ao_mutex_put(&ao_config_mutex);
+ if (saved)
+ puts("Saved");
+ else
+ puts("Nothing to save");
}
+#endif
__code struct ao_cmds ao_config_cmds[] = {
- { 'c', ao_config_set, "c <var> <value> Set config variable (? for help, s to show)" },
- { '\0', ao_config_set, NULL },
+ { ao_config_set, "c <var> <value>\0Set config variable (? for help, s to show)" },
+ { 0, NULL },
};
void
projects / fw / altos / blobdiff